Comments (1)
Hello :)
I am sorry, I only noticed this issue now.
Unstable localization usually happens due to:
- Odometry with low accuracy, drift or sudden jumps
- Suggestion: recalibrate odometry or try without odometry, with a static tf between odom and base_footprint
- Map with filled walls which causes the matching algorithm to match inside the walls
- Suggestion: edit the map (in gimp or using opencv) and ensure that the walls are composed of a single pixel layer, one for each side of the wall | alternatively, increase the voxel grid size used in drl for the map and eventually, the sensor data in the filters yaml (after changing the yaml, reload drl and check the parameter server to ensure that the values changed and check the drl reference point cloud in rviz). This will likely reduce the localization accuracy, but it will increase its stability
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/launch/dynamic_robot_localization_system.launch#L26
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/yaml/configs/filters/filters_large_map_2d.yaml#L5
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/yaml/configs/filters/filters_large_map_2d.yaml#L16
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/yaml/schema/drl_configs.yaml#L86
- Suggestion: edit the map (in gimp or using opencv) and ensure that the walls are composed of a single pixel layer, one for each side of the wall | alternatively, increase the voxel grid size used in drl for the map and eventually, the sensor data in the filters yaml (after changing the yaml, reload drl and check the parameter server to ensure that the values changed and check the drl reference point cloud in rviz). This will likely reduce the localization accuracy, but it will increase its stability
For filtering the drl pose, the use_ukf_filtering can be enabled, but the result is highly dependent on the covariance estimation and configuration of the kalman filter.
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/launch/dynamic_robot_localization_system.launch#L20
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/yaml/configs/covariance_estimation/covariance_estimation.yaml
- https://github.com/carlosmccosta/dynamic_robot_localization/blob/noetic-devel/launch/ukf.launch
- https://github.com/cra-ros-pkg/robot_localization
Have a nice day,
from dynamic_robot_localization.
Related Issues (20)
- How do you get the correct TF? HOT 1
- the angle unit HOT 1
- 2-D global (3 DoF) localization questions HOT 21
- Using sparse and noisy PointCloud2 HOT 1
- build with ros-noetic HOT 2
- ROS2 Support HOT 2
- How to use 6 DoF robot localization HOT 11
- Selecting RoI HOT 1
- HSVto RGB HOT 1
- Lidar in pointcloud localization HOT 9
- Node doesn't start due to invalid time? HOT 1
- Mismatch between 6DoF tracking achieved locally and the reference video with same data set HOT 2
- Initial pose and odometry reuse HOT 6
- Turn on/off the tracking HOT 1
- compile errors HOT 9
- **[URGENT]** What is the result of the 3dof localization? HOT 11
- 2D localization mode have roll pitch and Zaxis drit HOT 14
- Pointclouds get dropped HOT 3
- error:registration.registerVisualizationCallback(this->update_visualizer_); HOT 5
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